JP2023523744A - Determination of flight path - Google Patents

Abstract

The present invention relates to flight path determination methods, devices, storage media, and electronic devices. According to one example, the method determines a tile path from a plurality of tiles for the vehicle to traverse from a flight origin to a flight destination based on a topology diagram corresponding to the flight origin and destination of the vehicle and the plurality of tiles in the target space. The flight origin and end point is in the target space, there are multiple spatial points with position information in the target space, and each tile is a group of multiple spatial points including a spatial point group obtained later; determining the entrance/exit information of each tile in the tile path based on the position information of each spatial point and the tile path; determining a flight path of the vehicle based on the information, the connection relationship between the plurality of spatial points, the tile path and the entrance/exit information of each tile in the tile path.

Description

The present invention relates to the field of artificial intelligence, and in particular to flight path determination.

With the development of science and technology, applications to aircraft are becoming more and more frequent in various industries. For air vehicles such as unmanned aerial vehicles and aircraft that support autonomous driving, flight paths need to be pre-planned before use. Regulations stipulate that flying objects must fly in the sky according to predetermined rules rather than freely generating flight paths. Depending on the business demands and the complexity of the geographic environment of the city (e.g. relatively many architectural obstacles and a large number of vehicles frequently passing through the same space), Submit higher demands.

A main object of the present invention is to provide a flight path determination method, apparatus, storage medium and electronic equipment.

According to a first aspect of the present invention, there is provided a method for determining a flight path, the method corresponding to flight origin location information and flight end location information of a target vehicle and a plurality of tiles in target space. determining a tile path from the plurality of tiles based on the topology diagram, the tile path representing a plurality of first tiles through which the target vehicle traverses from the flight origin to the flight destination; wherein the flight origin and the flight end point are both within the target space, a plurality of spatial points having first connection information exist within the target space, and the first The connection information is used to indicate whether there is a connection relationship between every two of the spatial points in the target space, and the tile is a space determined after grouping the plurality of spatial points. including a point group; and determining doorway information corresponding to each said first tile based on location information of each said spatial point, said first connection information and said tile path, said doorway The information includes an entry spatial point at which the target vehicle enters the first tile and/or an exit spatial point at which the target vehicle leaves the first tile; determining a flight path of the target vehicle from the flight origin to the flight endpoint based on entrance/exit information corresponding to one tile.

Optionally, the method includes grouping the plurality of spatial points to determine the plurality of tiles based on the first connectivity information and fitness information and location information of each of the spatial points. wherein the spatial point applicability information is used to represent the frequency with which an aircraft passes through the spatial point within a preset time period; determining second connection information corresponding to a plurality of tiles to generate the topology diagram, wherein the second connection information is between every two tiles of the plurality of tiles; used to indicate whether a connection relationship exists.

Optionally, grouping the plurality of spatial points to determine the plurality of tiles based on the first connectivity information and fitness information and location information of each of the spatial points comprises: performing grid processing on a space to partition the target space into a plurality of geometric partitions; and determining an applicability partition in which each of the spatial points is based on applicability information of each of the spatial points. and dividing the spatial points that are in the same geometric partition, in the same applicability partition, and that have a connection relationship with each other into the same spatial point group to form the tiles. include.

Optionally, the applicability partitions include dense partitions and sparse partitions, and determining the applicability partition with each spatial point based on the applicability information of each spatial point as described above. , determining that the spatial point is in the dense partition if the frequency at which a vehicle passes the spatial point within the preset time period is greater than a preset frequency; or determining that the spatial point is in the sparse partition if the frequency at which an aircraft passes the spatial point within a set period of time is less than or equal to the preset frequency.

Optionally, determining second connection information corresponding to the plurality of tiles based on the first connection information to generate the topology diagram includes: and a third spatial point in a third tile, determining that a connection relationship exists between the second tile and the third tile; wherein the second tile and the third tile are any two tiles of the plurality of tiles, and the second spatial point is the second and the third spatial point is any one spatial point in the third tile, and based on the second connection information, the and generating a topology diagram.

Optionally, the tile path is further used to represent a connection order between the plurality of first tiles, and includes flight origin location information and flight end location information of the target vehicle; determining a tile path from the plurality of tiles based on a topology diagram corresponding to the plurality of tiles; Determining an origin tile corresponding to an origin and an end tile corresponding to the flight end point, and determining the plurality of first tiles based on the origin tile, the end tile and the topology diagram by a preset route search algorithm. and the connection order, wherein the plurality of first tiles includes the origin tile and the destination tile.

Optionally, determining doorway information corresponding to each said first tile based on the location information of each said spatial point and said tile path, as described above, includes: determining a fourth spatial point closest to the i+1-th first tile in the tile path as the exit spatial point of the i-th first tile among the plurality of spatial points in the tile path; A connection path between an exit spatial point in the i−1 th first tile and a fifth spatial point in the i th first tile in the tile path, based on the first connection information. wherein the fifth spatial point is the exit spatial point in the i−1-th first tile among a plurality of spatial points in the i-th first tile and that the first spatial point searched after entering the i-th first tile is the i-th first tile in the process of searching for the connection path. as the entry spatial point of the tile of the . wherein i is an integer greater than or equal to 1, and the distance between the spatial point and the first tile is the distance between the spatial point and a preset position within the first tile; be.

Optionally, determining a flight path of the target vehicle from the flight origin to the flight endpoint based on the tile path and the doorway information corresponding to each first tile, as described above, comprises: determining a linear path between an entrance spatial point and an exit spatial point in each said first tile based on entrance/exit information corresponding to said first tile; and calculating a collision risk on each said linear path. detecting to determine a first flight sub-path within each said first tile; location information of each said spatial point; location information of said flight origin; location information of said flight end; said tile path; and determining a second flight sub-path between the flight origin and an entry spatial point of the first tile corresponding to the flight origin in the tile path based on the entrance/exit information corresponding to each of the first tiles. determining a third flight sub-path between a first tile exit spatial point corresponding to said flight endpoint in said tile path and said flight endpoint; , connecting each said first flight sub-path and said third flight sub-path to generate said flight path.

Optionally, detecting a collision risk on each said straight-line path and determining a first flight sub-path within each said first tile, as described above, comprises: if no collision risk exists on said straight-line path setting the straight path as the first flight sub-path; or, if there is a collision risk on the straight path, determining the connection relationship of each spatial point in the first tile by a preset path planning algorithm. determining the first flight sub-path based on.

According to a second aspect of the present invention, there is provided an apparatus for determining a flight path, said apparatus corresponding to flight origin location information and flight end location information of a target vehicle and a plurality of tiles in the target space. a tile path determination module configured to determine a tile path from the plurality of tiles based on a topology diagram, the tile path traversed by the target vehicle from the flight origin to the flight destination; wherein the flight origin and the flight end are both within the target space, and within the target space are a plurality of spaces comprising first connection information a point exists, the first connection information is used to represent whether a connection relationship exists between every two of the spatial points in the target space, and the tiles are connected to the plurality of spaces; A path determination module including a spatial point group determined after grouping points, and a doorway corresponding to each of the first tiles based on location information of each of the spatial points, the first connection information and the tile path. an information determination module configured to determine information, wherein the entrance information is an entrance spatial point at which the target vehicle enters the first tile; an information determination module including an exit spatial point leaving the tile;

a flight path determination module configured to determine a flight path from the flight origin to the flight endpoint of the target vehicle based on the tile path and entrance/exit information corresponding to each of the first tiles; including.

Optionally, the apparatus is configured to group the plurality of spatial points to determine the plurality of tiles based on the first connectivity information and fitness information and location information of each of the spatial points. wherein the applicability information of the spatial point is used to express the frequency with which the flying object passes the spatial point within a preset time period; a topology diagram generation module configured to determine second connection information corresponding to the plurality of tiles based on the first connection information to generate the topology diagram, The connection information further includes a topology diagram generation module used to represent whether there is a connection relationship between every two tiles of the plurality of tiles.

Optionally, the tile acquisition module performs grid processing on the target space to partition the target space into a plurality of geometric partitions, and based on applicability information of each of the spatial points, each of the determining an applicability partition with spatial points, and classifying the spatial points that are in the same geometric partition, in the same applicability partition, and have a connection relationship with each other into the same spatial point group; , said tile.

Optionally, the fitness partitions include dense partitions and sparse partitions, and the tile acquisition module determines a preset frequency of aircraft passing the spatial points within the preset time period. if the frequency is greater than the predetermined frequency, then determining that the spatial point is in the dense partition; , then the spatial point is determined to be in the sparse partition.

Optionally, said topology diagram generation module determines if a connection relation exists between a second spatial point in a second tile and a third spatial point in a third tile, and the third tile to obtain the second connection information, wherein the second tile and the third tile are any two of the plurality of tiles the second spatial point is any one spatial point within the second tile; and the third spatial point is any one spatial point within the third tile , to generate the topology diagram based on the second connection information.

Optionally, the tile path is further used to represent a connection order between the plurality of first tiles, and the tile path determination module combines the flight origin location information and the flight destination location information. based on the plurality of tiles, determine an origin tile corresponding to the flight origin and an end point tile corresponding to the flight end point; The plurality of first tiles and the plurality of first tiles configured to determine the connection order based on the plurality of first tiles include the origin tile and the destination tile.

Optionally, the information determining module determines a fourth spatial point closest to the i+1th first tile on the tile path among a plurality of spatial points in the i-th first tile on the tile path. A spatial point is determined as the exit spatial point of the i-th first tile, and based on the first connection information, the exit spatial point in the i−1-th first tile in the tile path and the i determining a connection path between a fifth spatial point in the i-th first tile, wherein the fifth spatial point is the i-th spatial point among the plurality of spatial points in the i-th first tile; The spatial point closest to the exit spatial point in the first first tile, and is searched after entering the i-th first tile in the process of searching for the connection path. The first spatial point obtained is set as the entrance spatial point of the i-th first tile. wherein i is an integer greater than or equal to 1, and the distance between the spatial point and the first tile is the distance between the spatial point and a preset position within the first tile; be.

Optionally, the flight path determination module determines a linear path between an entrance spatial point and an exit spatial point within each said first tile based on entrance/exit information corresponding to each said first tile. , detecting a collision risk on each said straight-line path to determine a first flight sub-path within each said first tile, location information of each said spatial point, location information of said flight origin, said flight end point; , the tile path, and entrance/exit information corresponding to each of the first tiles, between the flight origin and an entrance spatial point of a first tile corresponding to the flight origin in the tile path determining a second flight sub-path, determining a third flight sub-path between a first tile exit spatial point corresponding to the flight endpoint in the tile path and the flight endpoint, and in turn determining a second flight sub-path; A flight sub-path, each said first flight sub-path and said third flight sub-path are connected to generate said flight path.

Optionally, the flight-path determination module sets the straight-line path as the first flight sub-path if the straight-line path does not present a collision risk, or presets if the straight-line path has a collision risk. A route planning algorithm configured to determine the first flight sub-path based on the connection relationship of each spatial point in the first tile.

According to a third aspect of the present invention, there is provided a computer readable storage medium, having a computer program stored on the computer readable storage medium, wherein when said computer program is executed by a processor, the method according to the first aspect is provided. Implement the steps of a flight path determination method.

According to a fourth aspect of the present invention, there is provided an electronic device comprising a memory storing a computer program and executing said computer program in said memory to perform the flight according to the first aspect. and a processor for implementing the steps of the route determination method.

By adopting the technical solution according to the present invention, at least the following technical effects can be achieved. By determining a high-level route consisting of tiles in a target space including a flight origin and a flight end point, and subdividing the routes within each tile related to the high-level route, effectively reducing the computational complexity of the flight route search process, Furthermore, the efficiency of flight route planning can be improved.

Other features and advantages of the present invention are described in detail in the Detailed Description section that follows.

The drawings provide a further understanding of the invention and form part of the specification, and are used to interpret the invention together with the following detailed description, but are limitations on the invention. do not configure
4 is a flowchart of a flight path determination method shown in accordance with an exemplary embodiment; 4 is a flowchart of a flight path determination method shown in accordance with another exemplary embodiment; 4 is a flowchart of a tile determination method shown in accordance with one exemplary embodiment; 4 is a flowchart of a tile path determination method shown in accordance with an exemplary embodiment; 4 is a flowchart of a method for determining entrance/exit information according to one exemplary embodiment; 4 is a flowchart of a method of determining a flight path based on tile paths shown according to one illustrative embodiment; FIG. 2 is a block diagram of a flight path determination device shown in accordance with one exemplary embodiment; FIG. 4 is a block diagram of a flight path determination device shown in accordance with another exemplary embodiment; 1 is a structural schematic diagram of an electronic device shown according to an exemplary embodiment; FIG.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. It should be understood that the specific embodiments described herein are for the purpose of describing and interpreting the invention only, and are not intended to limit the invention.

In the related art, path planning methods for air vehicles include two technical directions, including random point-based path planning methods and search-based path planning methods. The main representative of the random point-based path planning method is the fast growing random tree-based method. A feature of this method is to find a planned path from an origin to a target point by searching a high-dimensional space and guiding the search into blank regions by random sampling points of the state space. Representative search-based path planning methods are the Dijkstra algorithm and the A-Star algorithm (abbreviated A* algorithm). The A* algorithm finds the shortest path from the origin to the destination in the diagram by traversing the diagram nodes and computing the cost values of the diagram nodes' path consumption and heuristic estimation. However, both the random point-based path planning method and the search-based path planning method involve the process of traversing the original node in space, so the computational complexity during execution of these path planning methods is relatively large. It is suitable for scenarios with a large area, a relatively small map, or a relatively simple surrounding environment, but when faced with an application scenario with a relatively large area or a relatively complex surrounding environment, the route search time is too long. The efficiency of route planning becomes relatively low.

The inventors are aware of this problem and propose a flight path determination method.

FIG. 1 is a flow chart of a flight path determination method shown according to one exemplary embodiment. As shown in FIG. 1 , the method includes steps 101 , 102 and 103 .

In step 101, a tile path is determined from a plurality of tiles based on the flight origin position information and the flight end position information of the target vehicle and a topology diagram corresponding to the plurality of tiles in the target space. Wherein, the tile path is used to represent a plurality of first tiles through which the target aircraft passes from a flight origin to a flight end and a connection order between the plurality of first tiles. The flight origin and flight endpoint are within this target space, and there are a plurality of spatial points within this target space. First connection information is provided between the plurality of spatial points, and each spatial point is provided with location information. Each said tile contains a spatial point group obtained after grouping a plurality of spatial points. The topology diagram is used to represent connection relationships between multiple tiles. The first connection information is used to indicate whether or not there is a connection relationship between every two spatial points among the plurality of spatial points.

Illustratively, the target aircraft may be an air vehicle such as an unmanned aerial vehicle or an aircraft supporting autonomous driving, and the flight origin and flight end points are pre-entered by the user of the target air vehicle. This target space is a three-dimensional space, and the positional information of the flight origin, the positional information of the flight end, and the positional information of all the following spatial points are all three-dimensional coordinates. Upon receiving the position information of the flight origin and the position information of the flight end, the target space can be determined according to the actual environment of the flight origin and the flight end. This target space is actually parsed into a plurality of spatial points that may or may not have interconnected relationships based on the geographic environment within the region, flight-related limiting information and historical flight records, i.e. , these spatial points can represent the geographic and rule environment required to plan a flight path within this target space. In practice, the target space may contain an infinite number of spatial points, but in this embodiment, other spatial points are considered to be non-existent in the process of determining the flight path.

Illustratively, before step 101, first determine a target space based on the flight origin and the flight end point, and obtain a plurality of spatial points in the target space and first connection information between the plurality of spatial points. and grouping the plurality of spatial points to obtain a plurality of spatial point groups or tiles, and determining the topology diagram between all the tiles. Then, at step 101, a tile path is determined from the plurality of tiles. Among them, the process of grouping these spatial points is actually dividing a plurality of spatial points in the target space into a plurality of spatial point groups according to the preset grouping rules. The spatial points in each spatial point group occupy a regular or irregular space in the target space, which is this tile. Spatial points in each spatial group or tile are stored in a tree structure as required by the following pathfinding related steps. For example, this tree structure may be a k-dimensional tree (abbreviated kd-tree) or any ordered tree suitable for storing 3D or 2D spatial points. Thus, before step 101, a plurality of tiles have already been divided from this target space, and each tile corresponds to one tree structure, and to represent the position and connection relationship of the spatial points within this tile. Used. Among them, once the connection relationship between multiple spatial points in the target space is determined, grouping for these spatial points does not change the connection relationship between them. The connectivity relationships between spatial points are then used in subsequent steps to determine connectivity relationships between tiles to further generate a topology diagram and to perform pathfinding within the first tile. .

Illustratively, step 101 employs the concept of managing each, first searching the upper layer tile paths at the level of the entire target space, and then, in subsequent steps, finding each first tile path in the upper layer tile paths. Pathfinding can be performed on the interior of the tile. Specifically, first, a path composed of tiles, that is, this tile path is searched based on the connection relationship between the tiles. When the position information of the flight origin and the flight end and the topology diagram corresponding to a plurality of tiles are known, the tiles corresponding to both are determined based on the position information of the flight origin and the flight end, and this topology diagram is As a basis, a path consisting of tiles, ie, a tile path, can be searched in the topology diagram by running a preset path search algorithm. This path search algorithm may be a heuristic search algorithm, such as the A* algorithm, the ordered search algorithm (abbreviated as A algorithm) or the Dijkstra algorithm.

In step 102, determining the entrance/exit information corresponding to each of the first tiles based on the location information of each spatial point, the first connection information and the tile path.

Illustratively, if the flight origin is in the first tile (i.e., the origin tile of this tile path), then there is no entrance spatial point within this origin tile; (i.e., the end tile of this tile path), there is no exit spatial point within this end tile, and the first tile that does not contain the flight origin and flight end points is the entry spatial point and the exit space Equip the points at the same time. Thus, the entrance/exit information includes the entry spatial point at which the target vehicle enters this first tile and/or the exit spatial point at which the target vehicle leaves this first tile.

Illustratively, after macro-determining this tile path and before micro-pathfinding inside each first tile, determine the relationship between the macro-level and the micro-level. There is a need. The gateway information is used to determine the relationship between the macro level and the micro level. The connection relationship between each first tile in the tile path is a conceptual relationship and cannot reflect a route that can actually be a flight path. In practice, which actual path each first tile should be connected through should be further determined based on the position and connection relationship of the spatial points. Also, the process of determining the entrance/exit information for a first tile may involve spatial points that are not contained within this first tile. Therefore, in addition to the tile path, it also requires position information of each spatial point and first connection information between the plurality of spatial points.

In step 103, determine a flight path of the target vehicle from the flight origin to the flight endpoint based on the tile path and the entrance/exit information corresponding to each first tile.

Illustratively, after determining the entrance and exit spatial points of each first tile in step 102, in step 103, the entrance spatial points within the same first tile are directly connected to the exit spatial points. , the flight sub-path can be determined. Or, for some reason, the entrance and exit spatial points within the same first tile cannot be directly connected, and based on the topological relationship indicated by the tree structure of multiple spatial points within each first tile, The heuristic search algorithm allows searching for flight sub-paths within this first tile, with the entry and exit spatial points as the search start and end points. After determining the flight sub-paths within each first tile, connecting these flight sub-paths in order according to the connection order between the plurality of first tiles in the tile path allows the target aircraft to fly A flight path can be planned that flies from an origin to a flight destination.

In the technical solution according to the embodiment of the present invention, in a target space including a flight origin and a flight end point, a high-level route composed of tiles is determined, and the routes in each tile related to the high-level route are subdivided to search for a flight route. It can effectively reduce the computational complexity of the process and further improve the efficiency of flight path planning.

FIG. 2 is a flow chart of a flight path determination method shown in accordance with another exemplary embodiment. As shown in FIG. 2, each spatial point further comprises applicability information, which represents the frequency with which a vehicle flies through this spatial point within a preset time period. used for Before step 101 in the method shown in FIG. 1 , the method may further include steps 104 and 105 .

In step 104, the plurality of spatial points are grouped to determine the plurality of tiles based on the first connectivity information and the applicability information and location information of each of the spatial points. Among them, the applicability information of the spatial point is used to express the frequency with which the flying object flies through the spatial point within a preset time period.

Illustratively, the process of grouping these spatial points in the target space should follow predetermined grouping rules. For example, this grouping rule may be a rule that determines geometric partitions after performing grid processing on the target space in combination with applicability partitions determined according to the application situation. Among them, the geometric partition may be a plurality of squares or rectangular parallelepipeds with the same volume determined by performing grid processing on the target space. This fitness partition, determined according to the application situation, analyzes whether the vehicle is suitable to fly this spatial point, and based on the analysis result, for all spatial points in the target space This is equivalent to performing binary classification. Specifically, in one embodiment, based on the frequency contained in this fitness information, it can be analyzed whether the vehicle is suitable for flying this spatial point. If a vehicle passes through a point in space often, it is considered suitable for the vehicle to fly over this point in space. If the vehicle passes through the spatial point less frequently, it is considered that the vehicle is not suitable for flying through this spatial point. As a result, the spatial points that the flying object frequently passes through can be classified into one type, and the spatial points that the flying object rarely passes through can be classified into one type. For example, some spatial points are in military or private territory and are not allowed to pass through. These spatial points are spatial points at which flying objects do not frequently appear.

In step 105, determining second connection information corresponding to the plurality of tiles based on the first connection information to generate the topology diagram. Among them, the second connection information is used to indicate whether or not there is a connection relationship between two tiles out of the plurality of tiles. As can be seen, the first connectivity information represents connectivity relationships between spatial points that can generate actual flight paths, while the second connectivity information here represents conceptual connectivity relationships between tiles. show.

Illustratively, all connections between multiple tiles in this topology diagram are conceptual connections, but the basis for determining these connections has practical meaning between tiles. It is a connection relation between spatial points. For example, if there is a connection relationship between spatial point a in tile A and spatial point b in tile B, then there is a conceptual connection relationship between this tile A and this tile B, and all spatial points in tile C and all spatial points in tile D, then there is no conceptual connection between this tile C and this tile D. Therefore, step 105 determines if a connection relationship exists between a second spatial point in the second tile and a third spatial point in the third tile, determining that a connection relationship exists in the tiles and obtaining the second connection information, wherein the second tile and the third tile are any two tiles of the plurality of tiles; , this second spatial point is any one spatial point in this second tile, and this third spatial point is any one spatial point in this third tile and generating the topology diagram based on the second connectivity information.

FIG. 3 is a flowchart of a tile determination method illustrated according to one exemplary embodiment. As shown in FIG. 3, step 104 in the method shown in FIG. 2 may further include steps 1041, 1042 and 1043. FIG.

At step 1041, grid processing is performed on the target space to partition the target space into a plurality of geometric partitions.

At step 1042, based on the fitness information of each spatial point in the target space, determine the fitness partition in which each spatial point lies.

Illustratively, the fitness partitions include dense and sparse partitions. For example, step 1042 determines that the first spatial point is densely populated if the frequency with which the vehicle flies past the first spatial point within the preset time period is greater than the preset frequency. partition, and the first spatial point is any one of the plurality of spatial points, or the flight within the preset time period Determining that the first spatial point is in the sparse partition if the body flies past the first spatial point less frequently than or equal to the preset frequency.

Illustratively, in this embodiment, the applicability partition with the plurality of spatial points is determined by the machine according to the frequency and frequency threshold. In another embodiment, the above dense and sparse partitions may be spatial point fitness partitions manually marked by an operator analyzing based on the environmental information of this spatial point. For example, this environmental information may include whether there is a gas station below this spatial point, whether the network signal at this spatial point is stable, and whether the weather at this spatial point is suitable for flying. may include After manually marking the fitness partitions of the spatial points, the above step 1042 can be omitted and the manually output fitness partition results can be directly accepted for the subsequent steps.

In step 1043, the spatial points that are in the same geometric partition, the same applicability partition, and have a connection relationship with each other are divided into the same spatial point group, and the obtained spatial point group is tiled. and

Illustratively, the fitness partition is the partition determined after performing binary classification on the plurality of spatial points, as described above. Among them, the spatial points in the dense partition are relatively concentrated and the connection relationship is relatively clear, so the partition can be directly based on the grouping step in step 1043, while the sparse partition The spatial points in are relatively dispersed and irregular, and the relationships between them are also relatively difficult to determine. There is a need. This reference point is a spatial point that can be selected from a plurality of spatial points in the target space. These reference points are relatively evenly distributed in the target space and have relationships between them. This association relation is not similar to any of the connection relations recorded in the first connection information and the second connection information, and is used only for the grouping process of spatial points in sparse partitions. For the reference points in the sparse partition, this step 1043 classifies the reference points in the same geometric partition, in the sparse partition, and having the above-mentioned relationship with each other into the same spatial point group. to make each spatial point group obtained a tile.

Illustratively, locations where reference points in sparse partitions are located are generally not well traveled by vehicles, unless realistically this flight origin or this flight endpoint is in a sparse partition. Thus, in one embodiment, spatial point groups or tiles of reference points in sparse partitions can be ignored during the execution of steps 104 and 105 and their substeps.

FIG. 4 is a flowchart of a tile path determination method shown in accordance with one exemplary embodiment. As shown in FIG. 4 , step 101 in the methods shown in FIGS. 1 and 2 may further include steps 1011 and 1012 .

In step 1011, an origin tile corresponding to the flight origin and an end point tile corresponding to the flight end point are determined from the plurality of tiles based on the position information of the flight origin and the position information of the flight end point.

Illustratively, in this step 1011, the origin tile corresponding to this flight origin and the destination tile corresponding to this flight end have different meanings due to the inclusion relationship between each of the flight origin and the flight end and a plurality of tiles. do. A flight starting point will be described as an example. If the flight origin is inside any one tile, this origin tile is the tile this flight origin is on, and if the flight origin is outside any one tile, this origin tile is this flight origin is the tile that is in the same geometric partition as and is closest to this flight origin. Specifically, if it is determined that the flight origin is not inside any tile based on the flight origin position information, first, the geometric partition where the flight origin is located (this geometric partition is is a geometric partition separated by ). Since these geometric partitions satisfy the rasterization, the center points of all geometric partitions can be put into one geometric partition tree structure (hereinafter referred to as partition tree structure). Although this partition tree structure is completely different in meaning from the tree structure of spatial points corresponding to each tile, this partition tree structure can be a k-dimensional tree (abbreviated as kd tree) or a three-dimensional or two-dimensional spatial point tree. can be any ordered tree that can store Stored in the nodes in this partition tree structure are the identifier of each geometric partition and the location information of the center point of the geometric partition. The center point of this geometric partition is not necessarily a spatial point as defined in this example. By calculating the distance between the flight origin and the center point of each geometric partition, the geometric partition closest to the flight origin can be determined as the target geometric partition. After determining the target geometric partition where the flight origin is located, the tile with the closest distance to the flight origin can be searched as the origin tile from this target geometric partition. As can be appreciated, the manner of determining the destination tile corresponding to the flight endpoint is similar to the manner of determining the origin tile corresponding to the flight origin above, and will not be further described here.

Illustratively, in this embodiment, the distance between a spatial point (including a flight origin, a flight endpoint, or any other spatial point) and a tile is actually a predetermined It represents the distance between the set positions. Wherein, the preset position may be the position of the center point of the space enclosed by all the spatial points in this tile, and the center point is not necessarily the spatial point defined in this embodiment. . Alternatively, this preset position may be the position of a spatial point among all spatial points within this tile.

In step 1012, determining a connection order between the plurality of first tiles and the plurality of first tiles based on the start point tile, the end point tile and the topology diagram by a preset route search algorithm; , that is, determine the tile path. Among them, the plurality of first tiles includes the starting point tile and the ending point tile.

FIG. 5 is a flowchart of a method for determining entrance/exit information for the first tile shown in accordance with one exemplary embodiment. For the i-th first tile in this tile path (i is an integer greater than or equal to 1 and less than or equal to the number of first tiles in the tile path), as shown in FIG. Step 102 in the illustrated method may further include steps 1021 , 1022 and 1023 .

In step 1021, among the plurality of spatial points in this i-th first tile, the fourth spatial point closest to the i+1-th first tile in this tile path is selected as this i-th first tile. is determined as the exit spatial point of the tile of .

Illustratively, in the process of determining the exit spatial point, since the connection order of the first tiles in this tile path is known, the 1st first tile (i.e., the origin tile ) to the last first tile (ie, the end point tile) to determine the exit spatial point within each first tile.

In step 1022, based on the connection relation between every two spatial points represented by the first connection information, the exit spatial point in the i-1th first tile in this tile path and this i-th Determine a connection path to and from a fifth spatial point within one tile. Among the plurality of spatial points in the i-th first tile, the fifth spatial point is the spatial point closest in distance to the exit spatial point in the i-1-th first tile. is.

In step 1023, in the course of route searching for this connection path, the first spatial point searched after entering this i-th first tile is taken as the entrance spatial point of this i-th first tile. do. Among them, the distance between each spatial point and the first tile is the distance between this spatial point and a preset position within this first tile.

Illustratively, in the process of determining the entry spatial point of a first tile, we are concerned with spatial points that are not contained within this first tile. Specifically, the connection paths in steps 1022 and 1023 are connected from the i−1th first tile to the ith first tile. Therefore, this connection path extends from the exit spatial point of the i-1th first tile to the i-th first tile through one or more spatial points not included in this i-1th first tile. It may be inside the first tile, but the first point that this connection path passes after entering this i-th first tile is not necessarily the fifth spatial point. . Therefore, we need to determine the entry spatial point of this i-th first tile. Even if the entrance spatial point of this i-th first tile is the first spatial point searched after entering this i-th first tile in the process of searching for this connection path, good. Specifically, this connection path is the connection path obtained by starting from the exit spatial point in the i−1 th first tile and searching to this fifth spatial point. In this search process, the connecting path must enter from outside this i-th first tile into this i-th first tile in order to reach this fifth spatial point. The first spatial point searched within this i-th first tile in this search process is the entrance spatial point of this i-th first tile.

Illustratively, in the course of actual execution, there are relatively few situations where both the flight origin and the flight endpoint are on the first tile. Thus, in this step 1021-1023, a form of determining entrance/exit information is described if neither the flight origin nor the flight endpoint is present in any first tile. If any one of the flight origin and the flight end point is inside the first tile with this flight origin, the first tile directly with this flight origin is taken as the origin tile in the tile path, and this flight origin is the entrance of this origin tile. It can be a spatial point, and/or the first tile with this flight endpoint can be the endpoint tile in the tile path, and the flight endpoint can be the exit spatial point of this endpoint tile.

FIG. 6 is a flowchart of a method for determining a flight path based on tile paths shown according to one illustrative embodiment. As shown in FIG. 6, step 103 in the methods shown in FIGS.

In step 1031, based on the entrance/exit information of each first tile in this tile path, determine a straight line path between the entrance spatial point and the exit spatial point in each first tile.

At step 1032, the collision risk on this linear path within each first tile is detected to determine the first flight sub-path within each first tile.

Illustratively, if there is no collision risk on this straight path, then this straight path is the first flight sub-path, or if there is a collision risk on this straight path, a preset path planning algorithm: The first flight sub-path is determined based on the connectivity of each spatial point in the first tile.

In step 1033, based on the position information of each spatial point, the position information of the flight origin, the position information of the flight end, the tile path and the entrance/exit information of each first tile in the tile path, the distance between this flight origin and the origin tile is determined. and/or a third flight sub-path between the exit spatial point of the endpoint tile and this flight endpoint.

Illustratively, this step 1031 through 1034 below still describes a form of determining a flight sub-path if neither the flight origin nor the flight endpoint is in any first tile. Specifically, if the flight origin is within the origin tile of the plurality of first tiles and the flight end point is within the destination tile of the plurality of first tiles, then the flight origin is directly at the entrance of the origin tile , and the flight endpoint can be the exit spatial point of the endpoint tile. That is, if both the flight origin and the flight endpoint are within a first tile in the tile path, steps 1031-1032 may be used to determine a plurality of first flight sub-paths without performing step 1033. can. Then, at step 1034, connect the plurality of first flight sub-paths based on the connection order information of the tile paths. However, if any one of the flight origin and flight endpoint is not present in any first tile, determine the second flight sub-path and/or the third flight sub-path, and determine these in step 1034 below. It is necessary to consider sub-routes of

Illustratively, neither the flight origin and/or the flight endpoint may be spatial points. As described above, in this embodiment, except for the spatial point in the first tile of the tile path in the target space, other spatial points are considered non-existent in the flight path determination process. Therefore, in this embodiment, if it is determined that this flight origin and/or this flight end point is not a spatial point, the spatial point that is closest to this flight origin and/or this flight end point in this target space directly It can be the flight origin and/or the flight endpoint.

At step 1034, the second flight sub-path, each first flight sub-path, and the third flight sub-path are connected in order to generate this flight path.

As described above, in the technical solution according to the embodiment of the present invention, in the target space including the flight start point and the flight end point, a high-level route composed of tiles is determined, and the routes within each tile related to the high-level route are subdivided. , it can effectively reduce the computational complexity of the flight route search process and further improve the efficiency of flight route planning.

FIG. 7 is a block diagram of a flight path determination device shown according to one exemplary embodiment, and as shown in FIG. 7, this device 700 includes the following modules.

A tile path determination module 710 determines a tile path from the plurality of tiles based on the flight origin location information and the flight endpoint location information of the target vehicle and a topology diagram corresponding to the plurality of tiles in the target space. is configured as Among them, this tile path is used to represent the plurality of first tiles through which the target vehicle flies from the flight origin to the flight end, and the connection order between the plurality of first tiles. The flight origin and the flight endpoint are within this target space, and there are multiple spatial points within this target space. The plurality of spatial points comprises first connectivity information, and each spatial point comprises location information. Each said tile comprises a spatial point group obtained after grouping said plurality of spatial points. This topology diagram is used to represent the connection relationships between multiple tiles. This first connection information is used to indicate whether or not there is a connection relationship between every two spatial points out of the plurality of spatial points.

The information determination module 720 is configured to determine entrance/exit information corresponding to each said first tile based on the location information of each said spatial point, said first connection information and said tile path. Wherein, the entrance/exit information includes an entrance spatial point at which the target vehicle enters the first tile and/or an exit spatial point at which the target vehicle leaves the first tile.

The flight path determination module 730 determines whether the target vehicle is the flight origin based on the position information of each spatial point, the position information of the flight origin, the position information of the flight end, the tile path and the entrance/exit information corresponding to each first tile. to a flight endpoint.

FIG. 8 is a block diagram of a flight path determination apparatus shown in accordance with another exemplary embodiment, as shown in FIG. 8, based on the apparatus embodiment shown in FIG. 7, this apparatus 700 includes: It also contains the following modules:

The tile acquisition module 740 groups the spatial points according to the first connection information between the spatial points in the target space, the applicability information of each spatial point, and the position information of each spatial point, and configured to determine a plurality of tiles; Among them, each spatial point has applicability information, and this applicability information is used to express the frequency with which an aircraft flies through this spatial point within a preset time period.

The topology diagram generation module 750 is configured to determine second connection information corresponding to the plurality of tiles based on the first connection information between the plurality of spatial points to generate a topology diagram. Among them, the second connection information is used to indicate whether or not there is a connection relationship between two tiles out of the plurality of tiles.

Optionally, the tile acquisition module 740 performs a grid operation on the target space to partition the target space into a plurality of geometric partitions and calculate the fitness of each of the plurality of spatial points within the target space. Based on the information, determine a fitness partition with the plurality of spatial points, and place the spatial points in the same geometric partition, in the same fitness partition, and having a connection relationship with each other in the same space. It is configured to be divided into point groups, and each acquired spatial point group is a tile.

Optionally, the fitness partitions include dense partitions and sparse partitions, and the tile acquisition module 740 determines whether the vehicle is at any of the plurality of spatial points within the preset time window. If the frequency of flying over a first spatial point, which is a spatial point, is greater than a preset frequency, determine that the first spatial point is in a dense partition; determining that the first spatial point is in a sparse partition if the frequency with which the vehicle flies past the first spatial point within the specified time period is less than or equal to a preset frequency. It is configured.

Optionally, the topology diagram generation module 750 generates a second spatial point in the second tile and a third spatial point in the third tile if a connection relationship exists between the second spatial point and the third spatial point in the third tile. determining that a connection relationship exists between the tile and the third tile, obtaining the second connection information, wherein the second tile and the third tile are any of the plurality of tiles; Two tiles, where the second spatial point is any one spatial point within this second tile, and this third spatial point is any one spatial point within this third tile. and is configured to generate this topology diagram based on this second connection information.

Optionally, the tile path determination module 710 selects an origin tile corresponding to the flight origin and an end point corresponding to the flight end from the plurality of tiles based on the position information of the flight origin and the position information of the flight end. determining a tile, and determining the plurality of first tiles and their connection order based on the starting tile, the ending tile and the topology diagram by a preset path search algorithm, i.e., determining the tile path; configured to determine Among them, the plurality of first tiles includes this starting point tile and this ending point tile.

Optionally, for the i-th first tile in this tile path (where i is an integer greater than or equal to 1 and less than or equal to the number of first tiles in the tile path), the information determination module 720 determines the i Among the plurality of spatial points in the i-th first tile, the fourth spatial point closest to the i+1-th first tile in this tile path is the exit spatial point of this i-th first tile. , and based on the connection relationship between each two spatial points represented by the first connection information, the exit spatial point in the i−1-th first tile in this tile path and this i-th determine a connection path between a fifth spatial point in one tile, wherein the fifth spatial point is the i−1 spatial point among the plurality of spatial points in the i-th first tile; the spatial point closest to the exit spatial point in the i-th first tile, perform a route search for the connection path, and enter the i-th first tile in the route search process. The first spatial point searched after is the entry spatial point of this i-th first tile, among which the distance between each spatial point and the first tile is the distance between this spatial point and this first tile It is configured to be a distance between preset positions.

Optionally, the flight path determination module 730 determines a straight line path between an entry spatial point and an exit spatial point within each first tile based on the entrance/exit information for each first tile in the tile path. and detecting the collision risk on this linear path within each first tile to determine the first flight sub-path within each first tile, the location information of each spatial point, the location information of the flight origin , the second flight sub-path of the entry spatial point between this flight origin and the origin tile, based on the position information of the flight endpoint, the tile path and the entrance information of each first tile in the tile path, and/or the destination Determine a third flight sub-path between the exit spatial point of the tile and this flight end point, connecting in turn the second flight sub-path, each first flight sub-path, and the third flight sub-path. to generate a flight path.

Optionally, the flight path determination module 730 may determine the straight-line path as the first flight sub-path if the straight-line path does not present a collision risk, or if the straight-line path has a collision risk, A set path planning algorithm is configured to determine a first flight sub-path based on the connectivity of each spatial point in the first tile.

As described above, in the technical solution according to the embodiment of the present invention, in the target space including the flight start point and the flight end point, a high-level route composed of tiles is determined, and the routes within each tile related to the high-level route are subdivided. , it can effectively reduce the computational complexity of the flight route search process and further improve the efficiency of flight route planning.

Illustratively, FIG. 9 is a functional block diagram of an electronic device 900 shown according to one illustrative embodiment. Referring to FIG. 9, electronic device 900 includes processor 901, and the number of processors may be one or more. Memory 902 is used to store computer programs that can be executed by processor 901 . Among them, a computer program stored in memory 902 may include one or more modules each corresponding to a set of program instructions. Note that the processor 901 may be configured to execute this computer program to perform the flight route determination method described above.

Additionally, electronic device 900 may further include a power component 903 and a communication component 904 . Among which, this power component 903 may be configured to perform power management of the electronic device 900, and this communication component 904 is configured to realize communication, e.g., wired or wireless communication, of the electronic device 900. may Note that the electronic device 900 may further include an input/output (I/O) interface 905 . Electronic device 900 can operate an operating system stored in memory 902, such as Windows Server™, Mac OS X™, Unix™, Linux (registered trademark), or the like.

Another exemplary embodiment further provides a computer-readable storage medium containing program instructions. The program instructions, when executed by the processor, implement the steps of the flight path determination method described above. For example, the computer readable storage medium may be the memory 902 containing program instructions, which may be executed by the processor 901 of the electronic device 900 to perform the flight path determination method.

Although the preferred embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the specific details of the above embodiments. Various simple modifications can be made to the technical solution of the present invention within the technical conception scope of the present invention, and all of these simple modifications fall within the protection scope of the present invention.

It should also be explained that each of the specific technical features set forth in the above detailed description may be combined in any suitable manner, where not inconsistent, to avoid unnecessary duplication. For avoidance, the present invention does not separately describe the various possible combinations.

Claims (12)

A method for determining a flight path,
Determining a tile path from the plurality of tiles based on the position information of the flight origin and the flight end of the target aircraft and the topology diagram corresponding to the plurality of tiles in the target space,
the tile path is used to represent a first plurality of tiles that the target vehicle traverses from the flight origin to the flight endpoint;
the flight origin and the flight endpoint are both within the target space;
A plurality of spatial points having first connection information exists in the target space, and the first connection information has a connection relation between every two of the spatial points in the target space. used to indicate whether or not
said tile comprising a spatial point group determined after grouping said plurality of spatial points;
determining doorway information corresponding to each said first tile based on location information of each said spatial point, said first connection information and said tile path, said doorway information comprising:
including an entry spatial point at which the target vehicle enters the first tile and/or an exit spatial point at which the target vehicle leaves the first tile;
determining a flight path from the flight origin to the flight endpoint of the target vehicle based on the tile path and entrance/exit information corresponding to each of the first tiles. How the flight path is determined. grouping the plurality of spatial points to determine the plurality of tiles based on the first connection information and applicability information and location information of each of the spatial points; the applicability information is used to represent the frequency with which the flying object passes through the spatial point within a preset time period;
Determining second connection information corresponding to the plurality of tiles based on the first connection information to generate the topology diagram, wherein the second connection information corresponds to the plurality of tiles. used to indicate whether a connectivity relationship exists between each two of said tiles. Grouping the plurality of spatial points to determine the plurality of tiles based on the first connectivity information and applicability information and location information of each of the spatial points includes:
gridding the target space to partition the target space into a plurality of geometric partitions;
determining an applicability partition with each of the spatial points based on applicability information of each of the spatial points;
dividing spatial points that are in the same geometric partition, in the same applicability partition, and that have a connection relationship with each other into the same spatial point group as the tiles; 3. The method of claim 2, wherein: The fitness partitions include a dense partition and a sparse partition, and based on fitness information of each spatial point, determining the fitness partition with each spatial point comprises:
determining that the spatial point is in the dense partition if a vehicle passes the spatial point more frequently than a preset frequency within the preset time period; or
determining that the spatial point is in the sparse partition if the frequency at which an aircraft passes the spatial point within the preset time period is less than or equal to the preset frequency. 4. A method according to claim 3. Determining second connection information corresponding to the plurality of tiles based on the first connection information to generate the topology diagram includes:
A connection relationship exists between the second tile and the third tile if a connection relationship exists between the second spatial point in the second tile and the third spatial point in the third tile. determining to obtain the second connection information,
the second tile and the third tile are any two tiles of the plurality of tiles;
the second spatial point is any one spatial point within the second tile;
wherein the third spatial point is any one spatial point within the third tile;
3. The method of claim 2, comprising generating the topology diagram based on the second connectivity information. The tile path is further used to represent the connection order between the plurality of first tiles, and includes flight origin location information and flight end location information for the target vehicle, and a plurality of tiles in the target space. Determining a tile path from the plurality of tiles based on a corresponding topology diagram includes:
Determining an origin tile corresponding to the flight origin and an end point tile corresponding to the flight end point from the plurality of tiles based on the position information of the flight origin and the position information of the flight end point;
determining the plurality of first tiles and the connection order based on the start point tile, the end point tile and the topology diagram by a preset path search algorithm; includes the origin tile and the destination tile. Determining entrance/exit information corresponding to each of the first tiles based on location information of each of the spatial points, the first connection information, and the tile path includes:
Among the plurality of spatial points in the i-th first tile in the tile path, a fourth spatial point closest to the i+1-th first tile in the tile path is selected as the i-th first tile. determining as the exit spatial point of the tile;
A connection path between an exit spatial point in the i−1 th first tile and a fifth spatial point in the i th first tile in the tile path, based on the first connection information. wherein the fifth spatial point is the exit spatial point in the i−1-th first tile among a plurality of spatial points in the i-th first tile being the spatial point with the closest distance, and
making the first spatial point searched after entering the i-th first tile the entry spatial point of the i-th first tile in the process of searching for the connection path. including
i is an integer greater than or equal to 1, and the distance between the spatial point and the first tile is the distance between the spatial point and a preset position within the first tile; The method according to any one of claims 1 to 6, characterized in that Determining a flight path from the flight origin to the flight endpoint of the target vehicle based on the tile path and doorway information corresponding to each of the first tiles;
determining a linear path between an entrance spatial point and an exit spatial point in each said first tile based on entrance/exit information corresponding to each said first tile;
detecting a collision risk on each said linear path to determine a first flight sub-path within each said first tile;
Based on the position information of each spatial point, the position information of the flight origin, the position information of the flight end, the tile path, and the entrance/exit information corresponding to each of the first tiles, the flight origin and the tile path determining a second flight sub-path between a first tile entry spatial point corresponding to said flight origin and said flight endpoint and a first tile exit spatial point corresponding to said flight end point in said tile path; determining a third flight sub-path between
connecting in turn a second flight sub-path, each said first flight sub-path and said third flight sub-path to generate said flight path. Item 7. The method according to any one of items 1 to 6. detecting a collision risk on each said linear path to determine a first flight sub-path within each said first tile;
if there is no collision risk on the straight-line path, then the straight-line path is the first flight sub-path; or
determining the first flight sub-path based on the connection relationship of each spatial point in the first tile by a preset path planning algorithm if there is a collision risk on the straight-line path; 9. The method of claim 8, wherein: A flight path determining device,
A tile configured to determine a tile path from the plurality of tiles based on flight origin location information and flight endpoint location information of a target vehicle and a topology diagram corresponding to the plurality of tiles in target space. A routing module,
the tile path is used to represent a first plurality of tiles that the target vehicle traverses from the flight origin to the flight endpoint;
the flight origin and the flight endpoint are both within the target space;
A plurality of spatial points having first connection information exists in the target space, and the first connection information has a connection relation between every two of the spatial points in the target space. used to indicate whether or not
a tile path determination module, wherein the tiles include spatial point groups determined after grouping the plurality of spatial points;
an information determination module configured to determine entrance/exit information corresponding to each of the first tiles based on location information of each of the spatial points, the first connection information, and the tile path; an information determining module, wherein entrance/exit information includes an entrance spatial point at which the target vehicle enters the first tile and/or an exit spatial point at which the target vehicle leaves the first tile;
a flight path determination module configured to determine a flight path from the flight origin to the flight endpoint of the target vehicle based on the tile path and entrance/exit information corresponding to each of the first tiles; , a flight path determination device. A computer readable storage medium storing a computer program, which when executed by a processor causes the steps of the flight path determination method according to any one of claims 1 to 9 to be performed. , a computer-readable storage medium. an electronic device,
a memory in which a computer program is stored;
and a processor executing the computer program in the memory to perform the steps of the flight path determination method according to any one of claims 1 to 9.

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